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Conference Paper: Retraction-based RRT planner for articulated models

TitleRetraction-based RRT planner for articulated models
Authors
Issue Date2010
Citation
Proceedings - IEEE International Conference on Robotics and Automation, 2010, p. 2529-2536 How to Cite?
AbstractWe present a new retraction algorithm for high DOF articulated models and use our algorithm to improve the performance of RRT planners in narrow passages. The retraction step is formulated as a constrained optimization problem and performs iterative refinement on the boundary of C-Obstacle space. We also combine the retraction algorithm with decomposition planners to handle very high DOF articulated models. The performance of our approach is analyzed using Voronoi diagrams and we show that our retraction algorithm provides a good approximation to the ideal RRT-extension in constrained environments. We have implemented our algorithm and tested its performance on robots with more than 40 DOFs in complex environments. In practice, we observe significant performance (2-80X) improvement over prior RRT planners on challenging scenarios with narrow passages. ©2010 IEEE.
Persistent Identifierhttp://hdl.handle.net/10722/206242
ISSN

 

DC FieldValueLanguage
dc.contributor.authorPan, Jia-
dc.contributor.authorZhang, Liangjun-
dc.contributor.authorManocha, Dinesh-
dc.date.accessioned2014-10-22T01:25:30Z-
dc.date.available2014-10-22T01:25:30Z-
dc.date.issued2010-
dc.identifier.citationProceedings - IEEE International Conference on Robotics and Automation, 2010, p. 2529-2536-
dc.identifier.issn1050-4729-
dc.identifier.urihttp://hdl.handle.net/10722/206242-
dc.description.abstractWe present a new retraction algorithm for high DOF articulated models and use our algorithm to improve the performance of RRT planners in narrow passages. The retraction step is formulated as a constrained optimization problem and performs iterative refinement on the boundary of C-Obstacle space. We also combine the retraction algorithm with decomposition planners to handle very high DOF articulated models. The performance of our approach is analyzed using Voronoi diagrams and we show that our retraction algorithm provides a good approximation to the ideal RRT-extension in constrained environments. We have implemented our algorithm and tested its performance on robots with more than 40 DOFs in complex environments. In practice, we observe significant performance (2-80X) improvement over prior RRT planners on challenging scenarios with narrow passages. ©2010 IEEE.-
dc.languageeng-
dc.relation.ispartofProceedings - IEEE International Conference on Robotics and Automation-
dc.titleRetraction-based RRT planner for articulated models-
dc.typeConference_Paper-
dc.description.naturelink_to_subscribed_fulltext-
dc.identifier.doi10.1109/ROBOT.2010.5509774-
dc.identifier.scopuseid_2-s2.0-77955789903-
dc.identifier.spage2529-
dc.identifier.epage2536-

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